CN108115670B - Robot dexterous hand finger calibration device and method - Google Patents
Robot dexterous hand finger calibration device and method Download PDFInfo
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- CN108115670B CN108115670B CN201611057070.6A CN201611057070A CN108115670B CN 108115670 B CN108115670 B CN 108115670B CN 201611057070 A CN201611057070 A CN 201611057070A CN 108115670 B CN108115670 B CN 108115670B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention relates to the technical field of robots, and particularly discloses a robot which comprises a palm back shell, a thumb part, a forefinger part, a middle finger part, a cushion block, a sensing proximity plate, a sensor bracket, a sensor and a connecting shaft, wherein the thumb part is arranged on the palm back shell; the thumb part device, the index finger part device and the middle finger part device are respectively connected with the palm back shell, the middle finger part device is connected with the index finger part device through a connecting shaft, and the rotation of the index finger part device knuckle drives the middle finger part device knuckle to be linked; cushion blocks are respectively arranged on the thumb part assembly and the index finger part assembly, a sensor proximity plate is fixedly arranged on the cushion blocks, the sensor proximity plate is provided with a boss structure, and a sensor is fixedly arranged on the palm back shell; and the thumb part moves to enable the boss close to the sensor approaching plate to approach the sensor, and when induction occurs, the zero position is determined. The zero position positioning device has the advantages of simple structure, convenience in installation, no influence of external environment, simple zero position calibration mode, high precision, high response speed and low control difficulty.
Description
Technical Field
The invention relates to the technical field of zero calibration of a robot manipulator, in particular to a device and a method for calibrating fingers of a dexterous robot hand.
Background
The zero error of the dexterous hand of the robot is a main factor influencing the absolute positioning precision of the dexterous hand, the zero error of the dexterous hand refers to the deviation of the actual position and the theoretical position of each joint in the initial position, and the zero calibration aims at identifying and compensating the zero error.
At present, zero calibration of the robot is mainly applied to industrial robots, for example, OTC, KUKA, ABB and the like have own unique zero calibration method. Meanwhile, the method relates to a zero point positioning method for the joints of the robot arm, such as a method for determining the positions of the joints by using an absolute position sensor, but the method is high in cost, and the sensors can only be installed at the joints, so that the mechanism is complicated; there are also methods for determining the position of the joint, for example using the signals of mechanical limit switches, but this method is not very accurate and generates vibrations and wear. There are also methods such as applying photoelectric switching signals, but the detection thereof is affected by water, oil stains, and the like. Compared with a robot joint, the structure of the dexterous hand is more compact, and zero calibration of fingers of the dexterous hand is not facilitated.
Disclosure of Invention
The invention aims to overcome the technical defects of low precision and complex structure of the existing zero position calibration device of the dexterous hand of the robot, and provides a finger calibration device and a finger calibration method of the dexterous hand of the robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the invention provides a finger calibration device for a dexterous robot hand, which comprises a palm back shell, a thumb part, a forefinger part, a middle finger part, a cushion block, a sensing proximity plate, a sensor bracket, a sensor and a connecting shaft, wherein the thumb part is arranged on the palm back shell;
the thumb part assembly, the index finger part assembly and the middle finger part assembly are respectively connected with the palm back shell, the middle finger part assembly is connected with the index finger part assembly through the connecting shaft, and the rotation of the index finger part assembly knuckle drives the middle finger part assembly knuckle to be linked;
the thumb part assembly and the index finger part assembly are respectively and fixedly provided with the cushion blocks, the cushion blocks are fixedly provided with sensor proximity plates, the sensor proximity plates are provided with boss structures, and the palm back shell is fixedly provided with sensors;
and the thumb part moves to enable the boss close to the sensor proximity plate to approach the sensor, and when induction occurs, the zero position is determined.
In some embodiments, the sensor is fixedly arranged on the palm back shell through a sensor bracket.
In some embodiments, the thumb part comprises a thumb motor, a thumb mounting seat, a thumb knuckle and a thumb gear, and the thumb motor is fixed on the thumb mounting seat and drives the thumb knuckle to rotate through the meshing of the thumb gear.
In some embodiments, the sensor is an inductive proximity sensor, and when the sensor proximity plate boss enters the sensing area of the inductive proximity sensor, the inductor sensor oscillates and attenuates, and is converted into a switching signal, and the thumb motor is driven to stop rotating.
In some embodiments, the pad is fixed on a gear of the output shaft of the thumb motor to adjust the sensing distance between the sensor proximity plate and the sensor.
In some embodiments, the index finger part comprises an index finger motor, an index finger mounting seat, an index finger knuckle and an index finger gear, wherein the index finger motor is fixed on the index finger mounting seat and drives the index finger knuckle to rotate through meshing of the index finger gear.
In some embodiments, the pad is fixed on a gear of the output shaft of the index finger motor to adjust the sensing distance between the sensor proximity plate and the sensor.
In addition, the invention also discloses a method for calibrating the fingers of the robot dexterous hand, which adopts the device for calibrating the fingers of the robot dexterous hand and comprises the following steps:
determining the zero position of the fingers of the dexterous robot hand, and driving the fingers to rotate to the theoretical zero position;
adjusting the cushion block and the sensor proximity plate to enable the boss to be located in a sensing area of the sensor;
detecting whether the sensor proximity plate and the sensor are inducted or not, if not, readjusting the cushion block and the sensor proximity plate to enable the boss to be located in an induction area of the sensor; if yes, determining the actual zero position of the dexterous hand, and stopping the robot dexterous hand.
In some embodiments, when the sensing of the sensor proximity plate and the sensor occurs, if the finger rotates to the zero position, the sensor proximity plate boss rotates to the sensing range of the sensor, an eddy current is generated in the metal of the sensor, the oscillation of the sensor is attenuated, and the eddy current is converted into a switching signal to control the finger of the dexterous robot hand to stop running.
In some embodiments, the extended and straightened position is the null position, with the thumb and forefinger at 90.
The invention has the beneficial effects that:
the finger calibration device for the dexterous robot hand has the advantages of high positioning precision, compact structure and difficulty in being influenced by the external environment.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a finger zero position calibration device for a dexterous hand of a robot;
FIG. 2 is a schematic structural diagram of a sensor proximity plate in the finger zero position calibration device of the dexterous robot hand of the present invention;
FIG. 3 is a flowchart of a method for calibrating fingers of a dexterous robot hand according to an embodiment of the present invention.
Description of reference numerals:
1 palm dorsal shell and 2 thumb part
3 finger-feeding part-assembly 4 middle-finger part-assembly
5 cushion 6 sensor proximity plate
7 sensor support 8 sensor
9 connecting shaft
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The idea of the invention is as follows: the dexterous hand of the invention is provided with four fingers, the thumb is controlled independently, the index finger is linked with the middle finger, and the dexterous hand is provided with two motors and sensors. The motor is controlled to drive the fingers to rotate, and a zero position, such as the position where the fingers are all opened, is artificially determined. The positions of the sensor and the sensor approaching plate are adjusted, so that the position of the sensor approaching plate boss is opposite to the sensing position of the sensor, and the distance meets the sensing condition of the sensor. When the finger is at a non-zero position, the driving motor drives the finger to rotate towards the zero position, when the sensor approaches the boss of the plate and enters the sensing area, the oscillation of the sensor is attenuated, the change is converted into a switching signal, and the driving motor stops rotating, so that the zero position calibration of the finger is realized.
Referring to fig. 1, a schematic structural diagram of an embodiment of a finger zero position calibration device for a dexterous robot hand of the present invention is shown. The cushion block in the device for calibrating the zero position of the fingers of the dexterous robot hand is arranged on the thumb part and the forefinger part, and the zero position calibration of the fingers of the dexterous robot hand is realized by arranging the cushion block and the sensor approach plate on the thumb and the forefinger and mutually matching the sensors on the palm back shell. In this embodiment, only the pad structure on the thumb is shown, and the process of the pad structure on the index finger and the process of matching with the sensor on the palm back shell are similar to the thumb and will not be described herein again.
The dexterous hand zero position calibration device of robot in this embodiment includes: the palm back shell 1, the thumb portion 2, the index finger portion 3, the middle finger portion 4, the cushion block 5, the sensor approach plate 6, the sensor support 7, the sensor 8 and the connecting shaft 9.
The palm back shell 1 is provided with threaded holes for fixing a thumb part assembly 2, a forefinger part assembly 3, a middle finger part assembly 4 and a sensor bracket 7. The dorsal palm shell 1 can be shaped differently to facilitate connection to an arm or other member.
The thumb part 2 consists of a thumb motor, a thumb mounting seat, a thumb knuckle, a thumb gear and the like. The thumb motor is fixed on the thumb mounting seat and drives the thumb gear to be meshed to drive the rotation of the thumb knuckle. The index finger assembly 3 is of similar construction to the thumb assembly 1. The middle finger assembly 4 is connected with the forefinger assembly 3 through a connecting shaft 9, and the rotation of the knuckles of the forefinger assembly 3 drives the linkage of the knuckles of the middle finger assembly 4, so that the number of motors is reduced, and the structure is simplified.
The cushion block 5 is fixedly connected to a gear of an output shaft of the thumb motor through threads and is used for adjusting the distance between the sensor approach plate 6 and the sensor 8. The sensor proximity plate 6 is fixed to the spacer 5 by screws. Referring to fig. 2, the schematic structural diagram of the sensor proximity plate in the finger zero calibration device of the robot dexterous hand of the present invention has a boss as the sensing part of the sensor 8. The shape of the boss is not limited to the shape of the present invention, and may be other shapes. The sensor 8 is fixedly connected to the sensor support 7 through threads, and the sensor support 7 is fixedly connected to one side, close to the sensor approaching plate 6, of the palm back shell 1. Preferably, the sensor 8 of the present invention is an inductive proximity sensor.
The finger zero position calibration device for the dexterous robot hand has the following advantages:
the device has simple structure and convenient installation, and meets the requirement of dexterous hands on compact structure; the zero calibration is realized in a non-contact way, so that the vibration and abrasion are avoided, and the influence of external environments such as oil stains, water, light and the like is avoided; the zero calibration mode is simple, the response speed is high, and the control difficulty is low.
In addition, the invention also comprises a method for calibrating the fingers of the dexterous robot hand, which comprises the following steps:
and determining the zero position of the fingers of the dexterous robot hand, and driving the fingers to rotate to the theoretical zero position. And adjusting the cushion block and the sensor proximity plate to enable the boss to be located in a sensing area of the sensor. And detecting whether the sensor proximity plate and the sensor are inducted or not, if not, readjusting the cushion block and the sensor proximity plate to enable the boss to be located in an induction area of the sensor. If yes, determining the actual zero position of the dexterous hand, and stopping the robot dexterous hand.
Specifically, the calibration method of the finger zero position calibration device of the dexterous robot hand comprises the following steps:
the zero position of the fingers of the dexterous hand is determined firstly, and the position that the thumb and the forefinger are opened and straightened at 90 degrees is taken as the zero position in the embodiment. The motor drives the finger to a determined theoretical zero position. The sensor bracket 7 and the sensor 8 are fixedly arranged, so that the sensing surface of the sensor 8 faces towards the inner side of the hand. The mounting cushion block 5 and the sensor proximity plate 6 are mounted, the boss for adjusting and fixing the sensor proximity plate 6 is opposite to the sensing surface of the sensor 8, and the sensing distance is less than 0.8mm and is not interfered. The sensor proximity plate 6 is tested for inductive interaction with the sensor 8.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
The above detailed description is provided for the finger calibration device and method for a dexterous robot hand provided by the present invention, and for those skilled in the art, there may be variations in the specific implementation manners and application ranges according to the ideas of the embodiments of the present invention.
Claims (10)
1. A finger calibration device for a dexterous robot hand is characterized by comprising a palm back shell, a thumb part, a forefinger part, a middle finger part, a cushion block, a sensor approach plate, a sensor bracket, a sensor and a connecting shaft;
the thumb part assembly, the index finger part assembly and the middle finger part assembly are respectively connected with the palm back shell, the middle finger part assembly is connected with the index finger part assembly through the connecting shaft, and the rotation of the index finger part assembly knuckle drives the middle finger part assembly knuckle to be linked;
the thumb part assembly and the index finger part assembly are respectively and fixedly provided with the cushion blocks, the cushion blocks are fixedly provided with sensor proximity plates, the sensor proximity plates are provided with boss structures, and the palm back shell is fixedly provided with sensors;
and the thumb part moves to enable the sensor to approach the boss of the plate to be close to the sensor, and when induction occurs, the zero position is determined.
2. The device for calibrating the fingers of a dexterous robot hand of claim 1, wherein said sensor is fixedly mounted on said dorsal palm shell by a sensor mount.
3. The finger calibration device of a robot dexterous hand as claimed in claim 1, wherein said thumb part comprises a thumb motor, a thumb mounting seat, a thumb knuckle and a thumb gear, said thumb motor is fixed on said thumb mounting seat and drives said thumb knuckle to rotate by meshing with said thumb gear.
4. The device for calibrating the fingers of a dexterous robot hand of claim 3, wherein said sensor is an inductive proximity sensor, and when said sensor proximity plate boss enters the sensing area of said inductive proximity sensor, said inductive proximity sensor oscillates and attenuates and converts to a switching signal, driving said thumb motor to stop rotating.
5. The device for calibrating the fingers of a dexterous robot hand of claim 3, wherein said spacer is fixed to a gear of said thumb motor output shaft for adjusting the sensing distance between said sensor proximity plate and said sensor.
6. The finger mark device of robot dexterous hand as claimed in claim 1, wherein said index finger part comprises an index finger motor, an index finger mounting seat, an index finger knuckle and an index finger gear, said index finger motor is fixed on said index finger mounting seat and drives said index finger knuckle to rotate by meshing said index finger gear.
7. The finger calibration device of a robot dexterous hand as claimed in claim 6, wherein said spacer is fixed on the gear of the output shaft of said index motor to adjust the sensing distance between said sensor proximity plate and said sensor.
8. A calibration method for the fingers of a dexterous robot hand is characterized in that the calibration device for the fingers of the dexterous robot hand, which is disclosed by any one of claims 1 to 7, is adopted and comprises the following steps:
determining the zero position of the fingers of the dexterous robot hand, and driving the fingers to rotate to the theoretical zero position;
adjusting the cushion block and the sensor proximity plate to enable the boss to be located in a sensing area of the sensor;
detecting whether the sensor proximity plate and the sensor are inducted or not, if not, readjusting the cushion block and the sensor proximity plate to enable the boss to be located in an induction area of the sensor; if yes, determining the actual zero position of the dexterous hand, and stopping the robot dexterous hand.
9. The method for calibrating the fingers of the robot dexterous hand according to claim 8, wherein when the sensing of the sensor proximity plate and the sensor is detected, if the fingers rotate to the zero position, the sensor proximity plate boss rotates to the sensing range of the sensor, eddy current is generated in the metal of the sensor, so that the oscillation of the sensor is attenuated, and the eddy current is converted into a switching signal to control the fingers of the robot dexterous hand to stop running.
10. The method of calibrating fingers of a robotic dexterous hand of claim 8, wherein the extended and straightened position at 90 ° between the thumb and the index finger is used as a zero position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611057070.6A CN108115670B (en) | 2016-11-26 | 2016-11-26 | Robot dexterous hand finger calibration device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611057070.6A CN108115670B (en) | 2016-11-26 | 2016-11-26 | Robot dexterous hand finger calibration device and method |
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| CN108115670A CN108115670A (en) | 2018-06-05 |
| CN108115670B true CN108115670B (en) | 2020-06-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101574809B (en) * | 2009-06-16 | 2011-05-11 | 北京华凯汇信息科技有限公司 | Zero-point positioning system, method and device for joint of robot |
| CN101648381B (en) * | 2009-09-09 | 2011-05-04 | 北京航空航天大学 | Multi-joint linked multi-finger dexterous hand |
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN104772654B (en) * | 2015-04-30 | 2017-03-08 | 中工科安科技有限公司 | A kind of detection of tool magazine cutter spacing of Digit Control Machine Tool, positioner and method |
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